Gyroscope-stabilizer.



. (3.1.. NORDEN.

GYROSCOPE STABILIZER. APPLICATION HLED APR. 15. 1915.

1 ,'%36,20%. Patented Augfi, 1917.

5 SHEETS-SHEET a.

ATTORNEY s,

.C. L. NORDEN. GYRQSCOPE STABlLlZER. APPLICATION FILED APR.15,'1916.

Patented Au". 7, 1917.

5 SHEETS-SHEET 2- INVENTOI? C. L. NORDEN. GYROSCOPE STABIUZER. APPLICATION mu) APR. 15. 1916.

l BQ$6Q2 Patented Aug. 7,1911

5 SHEETS SHEET 3.

C. L. NORDEN.

GYROSCOPE STABILIZER.

, APPLICATION FILED APR.15. 1M6. 1 36,204: a Patented Aug. 7, 1917.

V SHEETS-SHEET 5.

' INVEIVTOR M 6,0 ATTORNEY! em r l n Phillie ll: Mil.

cant. L. nonnnn, or nnoonnrn', new rosin e'rnoscornsranrnrznn.

' Specification of Letters Patent.

Application filed April 15, 1916. Serial No. 91,302.

To all whom it may concern:

Be it known that I, CARL L. NORDEN, a subject of the Queen of the Netherlands, and a resident of the borough of Brooklyn,

county of King's, city and State of New York, have invented certairrnew and useful Improvements in GyroscopeStabilizers, of which the following is a specification.-

My improvement relates to apparatus for the control and operation of gyroscopic stabilizers or gyroscopic appliances for quench-- in or dam in or lllllltlll the eriodic angular motion of stable bodies subject or liable to oscillation, such as vessels.

It has for its object to provide a new and improved system of controlfor gyroscopes for stabilizing bodies subject to forces or moments eausinp; oscillation, such as vessels; to simplify and improve such gyroscopic stabilizers and make them more efficient, re-

liable and durable in operation; also to make the .control of such stabilizers automatic and certain, and to eliminate the possibility of such stabilizers getting out of control and thereby to make them safe; to render cheaper the construction and operation of such devices; to lessen their weight and to reduce the space needed for them and their operatlon; to insure a limit to the angular velocity of precesslon oi the gyroscope and 'to render such limit adjustable; also to utilize the energy of oscillation derived from the body being stabilized; also to reduce the supervision or adjustment required for such devices; also, under certain conditions, to make such devices self-running and useful as sources of power; and generally to improve in other Ways such gyroscopic stabilizers, rendering them more eiiicient in op eration and more capable of commercial use. My invention consists in the novel devices and combinations hereinafter set forth.

Heretofore gyroscopic stabilizing devices, Whether passive or active, have been open to such serious objections and drawbacks in theiinconstruction and use as to interfere seriously with their practical application and success. As a result, such apparatus has heretofore had a very limited use, and, in almost all cases where attempts have'been made to use it, such attempts have been given up and abandoned as impractical. Among the difii culties encountered are the fact that such prior devices have been too expensive in construction and operation, too

cumbersome and heavy, too liable to be yond control and. to be dangerousto life a. .d property, and not eilicien't and reliable enough for practicalpurposes. 'ln stabilizers of theactive variety, constant supervision and adjustment have always been necessary. The control is very complicated and has had to be adjusted to the conditions. of use, such, ior instance, as the varying conditrons at sea for stant supervision and adjustment, such denot been sufliciently reliable. to

have to be provided with all the elements of both control systems, resultingin very complicated apparatus, which will not operate smoothly under varying sea conditions. The large amount of power required to spin the rotor or rotors of any gyroscopic stabilizers used heretofore constitutes a great drawback to their commercial use. and, since all of them destroy, by mechanical, hydraulic, or electric brakine'. the entire energy taken out of the oscillating body they act upon, means to eliminate the heat thus generated has to be provided.

My invention is addressed to overcoming such difiiculties. My improved apparatus is simple and relatively cheap in construction; rugged and durable and requiring little space for its operation; may be pendulic or self-centering; requires little or no outside supervision or adjustment; and is etiicient i and safe under all conditions. It providesa sate hunt for precessional angular velocity; may be designed to be self-running after it has been once fully started ,aund is capable,

under certain conditions, of allowing the use of excess energy derived from the osci lat1on.of the body to be stabilized for err- -ternal purposes.

' In the drawings accompanyinp this specification and fornnng part hereoi, l

vessels, and, even with coni stand 9, which meshes with pinions -.1s fast to a clutch nectshaft 5 with gears 15,12

15, rotate .only

shown my improvement, in a preferred form, as applied to the stabilizing of a vessel, although. it may, of course, the purpose of stabilizing other bodies subject to oscillation.

Referring now to the specific embodiment shown in the drawings,

Figure 1 is a side elevation, partly in section, of the rotor of a gyroscope and certain of its connecting parts and parts of the body to be stabilized with which the gyroscope is connected. Only so much of the gyroscope and of the body .to be stabilized is shown as is necessary "for an understanding of my invention.

Fig. 2 is a horizontal section on the lines 2-2 of Fig. 1, vlewed as shown by. the

arrows in Fig. 1.

Fig. 3'is a side elevation, partly in section, of a modification of the apparatus shown in Fig. 1.

Fig. 4. is a side elevation of the apparatus of Fig; 3, viewed as shown by the arrow in Fig. 3.

Eigs. 5 and 6 are detail views of friction pawls and clutches used in the apparatus of Fig. 4:.

. Fig. 7 is a diagrammatic view of a preferred form of myhydraulic control gear, with an adjustable gear ratio between the rotor and the vessel.

Referring now specifically to the apparatus shown in Figs. 1 and 2, 1 represents the rotor of a gyroscope of the usual construction, and 2 the shaft upon which it is mounted. Certain parts of the gyroscope are omitted for the sake of clearness. Such omitted parts are of the usual construction. 3 is a worm gear on shaft 2, meshing with two worm wheels 1, 4:, each fast on 'a shaft 5, 5. W'orm wheels 4, i, are of course driven directions by the rotor shaft. are carried in bearings 1n the form part of the frame in opposite Shafts 5, 5, parts 6, '4', which 35 oft-he gyroscope. 8 is a rack fixed to the I stand is secured to the vessel to be stabilized and may-be considered a part of it. This stand contains the gudgeon bearings (one'shown dotted) of the gyroscope. 10 is a pinion, which, for convenience, I shall call the precession pinion, fast on shaft 11. 12. is a gear wheel, also fast on shaft 11. Shaft 11 is 'carried in bearings 13, ll, of the gyroscope. frame. These parts process with the gyroscope. Gear 12 15, 15.- Each gear 15 sleeve 16, encircling and loose upon shaft 5. Each sleeve 16 forms a multiple clutch band, adapted, as herein after described, to clutch and 10. Pinion 10 meshes with rack 8, and it"will be understood that the pinion 10 and gears 12, as the gyroscope precesses.

Each shaft 5 has fast to it a disk 17, carrybe used for precesses its shaft 5 andcom ing three pins 18, projecting sidewise, and each. carrying a pawl 19. These pawls are adapted, when moving in the right direction, to engage teeth on the ratchet wheel 20, fast on clutch sleeve 16.

As the gyroscope precesses, pinion 10 moves one way or the other over rack 8, and is caused to rotateone way or the other, rotating gears 12 and 15. In this operation, one gear 15 rotates in the same direction as its respective shaft 5 and disk 17. At first the teeth of gear 2O slip idly under the pawls 19, but as soon as the angular velocity of precession is such as to turn gear 15, through gears 12 and pinion 10, faster than shaft 5, pawls 19 engage the ratchet teeth of gear 20, andclutch band 16 frictionally clutches shaft 5 and gear 15 together. This couples the rotor and other processing parts of the gyroscope to rack 8, or, in other words, to the body to be stabilized, in such a way that any precessional torque, or precessional moment, trying to further increase the precession velocity is transformed into I spinning torque, tending to increase the free to process at a lower velocity than that.

at which coupling takes place, the object of the device being to establish a positive limit for the precession velocity by causing the gyroscope to push against its own rotor. The resulting positive precession velocity limit is of thegreatest importance for the safety and reliability of all parts of the gyroscope, it insures that the gyroscope in phase with the oscillations of the body to be stabilized, and that a very large part of the energy absorbed by the ogyroscope from the energy of oscillation of that body is transformed into spinning energy, resulting in a high stabilizing efficiency and a marked decrease of spinning power required from outside sources for spinning purposes, if such power is at all the clutch band 16 carrying the larger part of it. The coupling will, therefore, be a gradual one, eliminating shocks.

gyroscope. Any other scope is processing in one direction, 10 will be rotated one way,

- ofthe body to stabilized, such and the body to be stabilized whenever the angular velocity or pieces 21, 21, are precessional limit stops mounted on the stand 9, and with them stops 22, 22, mounted on the frame 9f the gyroscope, are adapted to contac These stops are required to limit the precession angles of the suitable hind steps or' precession are limits, than those shown, may be used with my control.

t will be understood that when the gyropinion and when processing in the other the pinion 10 will be rotated the other way. In one of those cases, only one of the set of gears 15, clutch 16, disk 1?, with its pawls, will be operative, the other remaining idle. Details of the clutch band are not given in full, as they may be of any Well-known variety.

The parts intervening between the rotor and the rotating parts oi the gyroscope driven by it, or driving it, and. the rack 8 as gear 16, etc.,

155, dish 17, multiple clutch band constitute a coupling device to connect the rotor of the gyroscope and the body to be stabilized. Any predetermined amount of angular velocity of precession may be soleoted at which such coupling is to take place. Of course, this point may be pro-- determined or be varied inany suitable Way. As shown in the specific apparatus in questipn, it is done by adjusting the speed of the rotor. l

' lt will. thus be seen that the coupling de vice is normally inoperative until a predetermined angular velocity of precession the gyroscope is reached, and that whenever and as long as such velocity tends to exceed the predetermined amount, the coupling device will become and remain operative to couple the rotor of the gyroscope together, and

' sion falls below the predetermined amount,

.a gear 23 in with a the coupling device will become inoperative "and'the gyroscope and the body to'be stabilized will be uncoupled.

' 'Any suitable means may be employed for preventing precession altogether. As such means are well known, they are not illus trated. 4

a Iii Figspil and 4, l have shown a modi fiedform of apparatus. In these figures like parts are numbered the same as correspending parts in Figs. 1 and I In Figs. 3 and 4, shaft 2 is provided with place of the worm, and'it meshes spur-geanQ-l, loose on stationary shaft 25, secured to the gyroscope frame. Fast with gear 24 a beveled pinion 26, alsojloose on shaft 525, and meshing with and rotating two beveled gears 27, 2'7, running loose on ShaftQS, the latter mounted. in bearings 29, 29, of the gyroscopeframe. Procession pinion 10 is fast on shaft 28, and

acne

meshes with rack 8, fast to stand 9, forming pal-toi the device to be stabilized. 30, 30, friction pawls mrmnted on a plate 31, fast on shaft l l hen the angular velocity of precession of the gyroscope reaches and exceeds the predetermined amount, pinion l0, shaft :28 and disks 3i, and their pawls, rotate faster, in the same direction, than one the beveled gears 27, with a portion of which the pawls 30 engage, and tend to rotate these beveled gears, and, through them and connecting parts, rotor l, faster in the same direction that it is rotating. The operation is the same as that or Figs. 1 and 2, the difference being that in this case the coupling'is en- I tirely frictional.

lit will be understood that the beveled gears 2?, 2. rotate in opposite directions, and that, when one is operatively engaged by the coupling device, the other is not enbut runs loosely over the pawls 30 of ot.-er dish 31.

32, 32, are the gudgcon bearings, mounted the stand 9. represents a spinning motor adapted to be connected in any suitable Way to shaft 2; 3% is a bracket on the gyroscope frame carrying the fixed shaft 25 and bearing of shaft 28.

If desired, a friction drive may be em ployed in place'or gear as, and the ratio of this gearing may be made variable, so as to permit of adjustment of the total gear ratio.

is the gyros-cope frame.

In Fig. 7, l have illustrated diagrammatically a scheme for a hydraulic control gear having an adjustable gear ratio between rotor and vessel. 36 is a variable-stroke hydraulic pump of any suitable description. It is mounted on the gyroscope frame 35, and processes with it. The detail construction of this pump is not given, as it is well known. (lea-r12, driven by precession pinion l0, meshes with a pinion 37, fast on the main shaft of pump 36. Pinion 3? drives pump 36. 38 is a hydraulic motor of any suitable construction, which may drive the rotor shaft 2 by gearing, or in any suitable way, Or may be driven from that shaft. 39 and A0 represent the gearing connecting the motor and the shaft.

Valves l5 nude? and their tions are so arranged that, for any direction oi? precession, pump 36 draws fluid from pipe 44 and delivers fluid to pipe :8, pump 36 pumping into one or the other of the pipes 50, depending upon the direction. of precession, whereas the motor 38 always takes fluid from pipe it? and discharges l Vhen not processing, the entire fluid capacity of motor 38 passes through valve so. As long as the precession velocity is below the point where the capacity of pump 3.5 equals that of the motor 38, part or all of into pipetric, pneumatic or oscillation of the body the fluid discharged by motor 38 passes through pump .36. When, however, the capacity of pump 36 tends to exceed that of the motor, valve 42, which is spring loaded,

closes, and the resulting pressure of the fluid in pipe l3 drives motor 38. The'fiuid being incompressible, a conditional coupling between the body to be stabilized and the rotor of the gyroscope is obtained, adapted to transmit energy of oscillation to the rotor. Handwheel 48 allows adjustment ,of the capacity of pum 36 from zero to itsmaxi mum, in the wel -known manner, and thereby adjustment of the ratio of coupling to suit any rotor speedxn' any period of oscillation of the body to be stabilized.

It is not essential that the pump be mounted on the gyroscope, suitable connections between it and the other cooperating parts of the apparatus being, of course, providedwhen it is mounted elsewhere.

it will be understood that the pawls shown in the various drawings are provided with springs tending to press them lightly against the ratchet teeth oi the gears, in the wellknown way. These are omitted from .the drawings for the sake ofclearness.

Any suitable means may be employed for spinning the. rotor. As such means are well known, they are not illustrated.

Any suitable means, irrespective of the rotor speed, may be used for varying the amount of precession velocity at which the coupling device shall become operative, and themanner in which it hecomes'operative may be varied from the means shown on the drawings, and any suitable means, as elechydraulic, may be used to transform energy of oscillation into spinning energy. Such means are well known and, therefore, not illustrated.

By means oi? my improvement, the excess energy, over that required for spinning purposes. derived from the quenching of the to be stabilized may be used in any suitable way for any suitable purpose. This may be done electrically or hydraulically, or in any suitable way.

In Fig. 3, I have shown a shunt-wound electric motor for driving the rotor. \Vhen the rotor has been accelerated to a certain amount of speed, the shunt-wound motor is automatically converted into a dynamo and will return current into the line in a wellknown manner. This available electric current may be utilized for power and for other purposes. "In Fig. 3, I have shown such use in connection with electric lamps 5 l.

Many modifications in or departures from the specific form of apparatus shown in the drawings may be made other than those specifically indicated without departing from my invention.

My improved system of control paratus possess many advantages. My imand ap-.

proved apparatus'is pendulic or self-centering, is uncontrolled or free from outside in terference,.its angular velocity of precession is closely limited, and, accordingly, the gyro scope always moves in harmony or in phase with the body being stabilized, and is, therefore, of high efiiciency in. quenching or limiti'ng angular motion of such body; it is simple and rugged'in construction and of relatively light weight, occupies little space for its operation, requires relatively little power to 'start it, as-whatever energy the gyroscope takes out of the body to be stabilizedis utilized for spinning purposes and is an addition to other means used for accelerating the rotor, and, when its rotor is brought up to speed, may he designed to be self-running; it is, accordingly cheap in initial cost and in operation; my improved apparatus is'not liable to get out of control, and is, therefore, safe and free fromuthe dangers attendant upon prior gyroscopicstabilizing devices; moreover, jny improved apparatus requires no adjustment for changed conditions of the bod to be stabilized, such asvarying sea con itions, being'self-adjusting to a marked degree,- as its rotor speed will automatically adapt itself to such sea conditions; also, its rotor will be brought up to speed quickly by the sea itself when a large quenching power is most needed, whereas with prior gyroscopic stabilizers a large unquenched roll has made it very diliicult to accelerate the rotor to its full speed, even by overloading the spinning motor to its limit, for a very long ce time.

My improved system of control is not confined to use with passive gyroscope stabilizers, but may, with suitable adaptations, be used with advantage with the active type as a precessional velocity limit control. In such a case, the outside motive power used for overcoming precession inertia, or for operating the clutches, need only be very small, may be derived from the rotor, and would be applied only during a small fraction of the duration of the procession, the power derived from the oscillation of the body being stabilized furnishing all the power needed.

It will, of course, be understood that my stabilizing apparatus may be located and arranged so as to quench or limit oscillations in any plane, such, for example, as the pitching of a vessel, as well as the rolling of a vessel; also that two or more gyroscopes with my improvement may be coupled together to quench or limit the angular motion in one or different planes, as, for example, that of both rolling and pitching. if de sired, my improved system of control can be installed in duplicate in connection with one gyroscope. Diiierent ratios of coupling may be used, or the same ratio of coupling. In the first case, one ratio of coupling would be used at lower rotor speeds, and the other normally menace at higher speeds; when one is operative, the other is inoperative. Where both controls have the same ratio of coupling, they can be interlocked or be'interdependent, one of them being made, in such a case, sulliciently elastic tween them.

W hat I claim as new and desire to secure by Letters Patent is 1. The combination with a gyroscope and a body to be stabilized, of a coupling device adapted, whenever the angular velocity of precession of the gyroscope exceeds a predetermined amount, to couple the rotor of the gyroscope and the said body together to limit further increase of precessional angular velocity and to transform energy of oscillation into energy of rotation of the rotor of the gyroscope. F2. The combination with a gyroscope and body to be stabilized, of a coupling device inoperative until a predetermined angular velocity or" precession of the gyroscope is attained and then adapted to couple the gyroscope and the said body together to prevent further increase of precessional angular velocity and to transform energy of oscillation of the bodyinto spinning energy or inertia of the rotor of the gyroscope, and adapted to uncouple them whenever the velocity of precession falls below such predetermined amount.

3. The combination with a gyroscope and a body to be stabilized, of a coupling dedetermined amount,

vice adapted, whenever the angular velocity of precession'of the gyroscope exceeds a preto couple the rotor of the gyroscope and the said body together to limit further increase of precessional angular velocity and to transform energy of oscillation into energy of rotation of the rotor f the gyroscope, and means for converting such energy of rotation into energy suitable for some outside useful purpose.

The combination with a gyroscope and a body to be stabilized, of a coupling device adapted, whenever the angular velocity of precession oi the gyroscope exceeds a predetermined, amount, to couple the gyroscope and the said body together to limit further increase of precessional angular velocity and to transform energy of oscillation of the body into energy of rotation of the rotor of the gyroscope, and means to vary the ratio of such coupling and thereby the predetermined precession velocity at which coupling takes place.

5. The combination with a gyroscope and a body to be stabilized, of a coupling device carried by the gyroscope and adapted to'precess with it and also connected with the body to be stabilized and adapted to respond -to the oscillations of said body, the said cou pling device being adapted, whenever the angular velocity of precession of the gyroscope so that the load can be divided be-.

and the coupling device being so couple the rotor of the elxceeds a predetermined amount, to couple t 1e limit further increase of precessional angular velocity and to transform energy of oscillation into energy of rotation of the rotor of the gyroscope.

6. The combination of the r0 or of a gyroscope, a body to be stabilized, a coupling device, connections between the said body and the coupling device adapted to rotate the latter one way or the other as the said body oscillates one way or the other, two rotating parts driven by the rotor of the gyroscope in opposite directions, the said rotating parts arranged and connected that neither of said rotating parts will be operatively connected with the coupling device until the angular velocity or precession of the gyroscope exceeds a predetermined amount, but when and so long as such angular velocity exceeds such amount the coupling device and one of the said rotating parts will be operatively connected, So that said coupling device will be operatively connected with that one of the said rotating parts rotating in the same direction as the coupling device, so that the coupling device will then tend'to increase the speed of rotation of such rotating part and through it tend to increase the speed of rotation of the rotor.

7. The combination of a gyroscope capable of precessing through definite precession angles between two limiting stops mounted on a body to be stabilized,'two precession-limiting stops-mounted on the body to be stabilized, and a coupling device adapted in conjunction with said stops to secure precession of the gyroscope in phase with the oscillations of the body to, be stabilized by utilizing the rotor of the roscope to absorb energy of oscillation of the body.

8. The combination of a gyroscope, abody to be stabilized, a coupling device connected with the said body and adapted to be rotated by it one'way or'the other as the said body oscillates one wayor the other, and connections between the coupling device and the rotor of the gyroscope adapted, whenever the angular velocity of precession of the gyroscope exceeds amount, to cause the coupling device to gyroscope and the said body-together to limit further increase of precessional angular velocity and to transform any passive moment tending to increase the precession velocity beyond the predetermined amount into a torsional mogyroscope and the said body together to.

a predetermined 

